Residue management control system for harvester

ABSTRACT

A harvester movable along a support surface. The harvester includes an inlet configured to receive crop, a blade configured to cut the crop into billet and extraneous plant matter, and a cleaning system configured to distinguish between billet and extraneous plant matter. Billet is directed toward a conveyor configured for discharging billet to a vehicle and extraneous plant matter is directed toward a hood. The hood includes a debris director defining an outlet configured to eject extraneous plant matter as residue onto the support surface. The outlet is disposed at an angle of residue ejection with respect to the support surface. The debris director is configured to adjust the angle of residue ejection with respect to the support surface.

CROSS REFERENCE TO RELATED APPLICATION BACKGROUND

This application is a continuation-in-part of co-pending U.S. patent application Ser. No. 17/156,176 filed Jan. 22, 2021, the entire contents of which are incorporated herein by reference.

BACKGROUND

The present disclosure relates to a harvester for harvesting material.

SUMMARY

In one aspect, the disclosure provides a harvester movable along a support surface. The harvester includes an inlet configured to receive crop, a blade configured to cut the crop into billet and extraneous plant matter, and a cleaning system configured to distinguish between billet and extraneous plant matter. Billet is directed toward a conveyor configured for discharging billet to a vehicle and extraneous plant matter is directed toward a hood. The hood includes a debris director defining an outlet configured to eject extraneous plant matter as residue onto the support surface. The outlet is disposed at an angle of residue ejection with respect to the support surface. The debris director is configured to adjust the angle of residue ejection with respect to the support surface.

In another aspect, the disclosure provides a cleaning system for a harvester movable along a support surface. The harvester includes an inlet configured to receive crop and a blade configured to cut the crop into billet and extraneous plant matter. The cleaning system includes a separator configured to distinguish between billet and extraneous plant matter. Billet is directed toward a conveyor for discharging billet to a vehicle and extraneous plant matter is directed toward a hood. The hood includes a debris director defining an outlet configured to eject extraneous plant matter as residue onto the support surface. The outlet is disposed at an angle of residue ejection with respect to the support surface. The debris director is configured to adjust the angle of residue ejection with respect to the support surface.

In another aspect, the disclosure provides a harvester movable along a support surface to receive crop and separate crop into billet and extraneous plant matter. The harvester a cleaning system configured to direct extraneous plant matter toward a hood. The hood includes a debris director including at least one movable panel defining an outlet configured to eject extraneous plant matter as residue onto the support surface. The outlet is disposed at an angle of residue ejection with respect to the support surface. The at least one movable panel is configured to adjust the angle of residue ejection with respect to the support surface. The angle of residue ejection is adjustable such that a residue ejection direction is generally perpendicular to the support surface.

Other aspects of the disclosure will become apparent by consideration of the detailed description and accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of a harvester.

FIG. 2 is a side view of the harvester of FIG. 1 with portions removed.

FIG. 3 is a partial cross-sectional side view of the harvester of FIG. 1.

FIG. 4 is a top view of the harvester of FIG. 1.

FIG. 5 is a further top view of the harvester of FIG. 1 illustrating a residue profile.

FIG. 6 is a schematic diagram illustrating a control system of the harvester of FIG. 1.

FIG. 7 is a flow chart illustrating one mode of operation of the harvester of FIG. 1.

FIG. 8 is a side view of another implementation of a harvester with portions removed.

FIG. 9 is a partial side view of the harvester of FIG. 8, with a debris director in a first configuration.

FIG. 10 is a partial side view of the harvester of FIG. 8, with a debris director in an intermediate configuration.

FIG. 11 is a partial side view of the harvester of FIG. 8, with a debris director in a second configuration.

FIG. 12 is a partial cross-sectional view of the harvester of FIG. 9 during operation of the harvester.

FIG. 13 is a partial cross-sectional view of the harvester of FIG. 11 during operation of the harvester.

FIG. 14 is a schematic diagram illustrating a control system of the harvester of FIG. 8.

DETAILED DESCRIPTION

Before any implementations of the disclosure are explained in detail, it is to be understood that the disclosure is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the following drawings. The disclosure is capable of supporting other implementations and of being practiced or of being carried out in various ways.

FIG. 1 illustrates a harvester 10, such as a sugarcane harvester, configured to harvest crop from a field 14 (which may also be referred to herein as a support surface) and a vehicle 16 (FIG. 4) for retaining the harvested crop. The illustrated harvester 10 includes a main frame 20 supported on wheels 24 that engage the field 14 in order to move the harvester 10 across the field 14 in a direction of travel 28 (FIG. 2). In some implementations, the wheels 24 may include continuous tracks 26 or other traction devices. An operator's cab 32 is mounted on the frame 20 above a prime mover 36, such as an engine. The prime mover 36 may be an internal combustion engine or other such device for providing motive power. The harvester 10 includes a throttle 40 for controlling a speed of the prime mover 36 and thus a speed of the harvester 10 (also referred to as the harvester speed). Adjacent the prime mover 36 is a heat exchange area 44. The harvester 10 includes a pair of crop lifters 52 mounted to the front of the frame 20, defining an inlet 56 for receiving the crop.

FIG. 2 illustrates a side view of the harvester 10 with portions removed. The crop lifters 52 cooperate with a knockdown roller 60 and a base cutter 64 to remove the crop from the field 14. Feed rollers 68 are disposed within the inlet 56 to feed the crop from the field 14 into the harvester 10. The feed rollers 68 operate at a feed speed. The harvester 10 further includes a chopper 76, and a cleaning system 78 (also referred to herein as residue discharge system) including a primary separator 80 and/or a secondary separator 88. The harvester 10 also includes a conveyor 84 (also referred to herein as an elevator) connecting the primary separator 80 and the secondary separator 88.

FIG. 3 illustrates the chopper 76 and the cleaning system 78 in more detail. The chopper 76 is disposed adjacent the feed rollers 68 to cut the crop. The chopper 76 may include a set of chopper drums 92 driven by a motor. The chopper drums 92 include a blade 96 for cutting the stalks of the crop. In one implementation, the chopper 76 may include counter rotating drum cutters with overlapping blades. In other implementations, the chopper 76 may include any suitable blade or blades for cutting the stalks of crop. The chopper 76 cuts the stalks of crop, referred to as cane C, into crop billet B, which includes pieces of the stalk. The crop also includes dirt, leaves, roots, and other plant matter, which is collectively referred to herein as extraneous plant matter. The chopper 76 operates at a chopper speed, which may be adjusted to change a size and weight of the resulting chopped crop pieces. The chopper 76 directs a stream of the cut crop, including crop billet B and extraneous plant matter, to the cleaning system 78 and specifically to the primary separator 80.

The cleaning system 78 is generally configured to distinguish between the billet B and the extraneous plant matter. (The extraneous plant matter may be referred to herein as residue, especially when ejected from the cleaning system 78.) The cleaning system 78 is generally operable at an adjustable cleaning speed. The primary separator 80 is coupled to the frame 20 and disposed downstream of the chopper 76 for receiving cut crop from the chopper 76. The primary separator 80 generally separates the extraneous plant matter from the crop billet B by way of any suitable mechanism for cleaning the cut crop, such as a fan, a source of compressed air, a rake, a shaker, or any other mechanism that distinguishes various types of crop parts by weight, size, shape, etc. in order to separate extraneous plant matter from crop billet. In the illustrated implementation, the primary separator 80 includes a primary fan 108 driven at a primary fan speed by a primary motor 116. The primary fan speed can be varied by controlling the primary motor 116. Thus, in the illustrated implementation, the cleaning speed may include the primary fan speed; however, in other implementations, the cleaning speed may include air speed (e.g., of released compressed air or any other pressurized air), rake speed, shaker speed, etc. The primary separator 80 further includes a primary cleaning chamber 120 generally defined by a primary cleaner housing 124.

As illustrated in FIGS. 3-5, the primary separator 80 includes a primary hood 128 coupled to the main frame 20. The primary hood 128 may have a domed shape, or other suitable shape, and includes a primary opening 132 (also referred to herein as first outlet) angled out from the harvester 10 and facing slightly down towards the field 14. The hood directs separated extraneous plant matter through the primary opening 132 to the outside of the harvester, back onto the field 14. The separated extraneous plant matter that is directed through the primary opening 132 and ejected back onto the field 14 is referred to as primary residue 136. In some implementations the primary separator 80 includes a primary shredder 140 that shreds the residue into smaller pieces, which can be selectively activated by an operator. The separated crop, including mostly crop billet B, is deposited in a basket 144 disposed below the primary separator 80. The primary hood 128 is rotatably mounted on the frame and rotatable through a range extending from a first position to a second position. In the first position, the primary hood 128 is oriented such that the primary opening 132 is directed at an angle A1 of +161 degrees from the direction of travel 28 of the harvester 10. In the second position, shown in phantom in FIG. 4, the primary hood 128 is oriented such that the primary opening 132 is directed at an angle A2 of −161 degrees (+199 degrees) from the direction of travel 28 of the harvester 10. Thus, the primary hood 128 has a range of 38 degrees. The primary hood 128 is infinitely adjustable to a first predetermined angular position, which may include any position from the first position to the second position. In other implementations, the angles A1 and A2 may have any other suitable value such that the primary hood 128 is rotatable within any suitable angular range, such as a range of about 38 degrees (+/−5 degrees), about 50 degrees (+/−5 degrees), about 70 degrees (+/−5 degrees), about 90 degrees (+/−5 degrees), about 120 degrees (+/−5 degrees), about 180 degrees (+/−5 degrees), or more or less than these ranges.

Referring to FIGS. 4-5, the conveyor 84 is coupled to a rear of the frame 20 for receiving the separated crop from the basket 144. The conveyor 84 extends along a conveyor axis 160 (FIG. 4) from the rear of the harvester 10 and terminates at a discharge opening 164 (also referred to herein as a second outlet) elevated to a height suitable for discharging cleaned crop into the vehicle 16. The conveyor 84 is rotatably mounted on the frame 20. The conveyor 84 is rotatable at least from a first position to a second position. In the first position (FIG. 4), the conveyor axis 160 extends at a +98-degree angle from the direction of travel 28 of the harvester. In the second position (FIG. 5), the conveyor axis 160 extends at a −98-degree (+278-degree) angle from the direction of travel 28 of the harvester. Therefore, the conveyor 84 has a 164 degree range of motion. The conveyor 84 is infinitely adjustable to a second predetermined angular position, which may include any position from the first position to second position. In other implementations, the conveyor axis 160 may have any other suitable range of motion/angles with respect to the direction of travel 28.

Referring again to FIGS. 3-5, the secondary separator 88 is disposed adjacent the discharge opening 164 for cleaning the crop a second time before being discharged into the vehicle 16. The secondary separator 88 may include a fan, a compressed air source, a rake, a shaker, or other suitable device. In the illustrated implementation, the secondary separator 88 includes a secondary fan 180 driven at a secondary fan speed by a secondary motor 188. The secondary fan speed can be varied by controlling the secondary motor 188. Thus, in the illustrated implementation, the cleaning speed may include the secondary fan speed; however, in other implementations, the cleaning speed may include air speed (e.g., of released compressed air or any other pressurized air), rake speed, shaker speed, etc. The secondary separator 88 includes a secondary cleaning chamber 192 defined by a secondary cleaner housing 196. The secondary cleaner housing 196 includes a secondary hood 200 having a secondary opening 204. The secondary hood 200 is rotatably connected to the end of the conveyor 84, such that the secondary hood 200 is rotatable 360 degrees and is infinitely adjustable to a third predetermined angular position, which may include any position in the range of rotation. In other implementations, the secondary hood 200 may have any suitable range of rotation. The secondary crop cleaner is operable such that additional extraneous plant matter is discharged through the secondary opening 204 and the remaining separated crop is discharged through the discharge opening 164 and into the vehicle 16. The additional extraneous plant matter discharged through the secondary opening 204 is referred to as secondary residue 212. In some implementations, the secondary separator 88 includes a secondary shredder 216 that shreds the residue into smaller pieces, which can be selectively activated by the operator.

With reference to FIG. 5, the primary residue 136 is ejected from the primary opening 132 and is dispersed across the field 14. The area covered by the ejected primary residue 136 is approximately represented by a primary residue zone 220. The concentration of the ejected residue may vary within the primary residue zone 220. The primary residue zone 220 includes a first subzone 224 and a second subzone 228. The first subzone 224 covers portions of the primary residue zone 220 having higher concentrations of residue. The second subzone 228 covers portions of the primary residue zone 220 having lower concentrations of residue. The primary separator 80 may eject the primary residue 136 at a primary discharge rate. The secondary residue 212 is ejected from the secondary opening 204 and is dispersed across the field 14. The area covered by the ejected secondary residue 212 is approximately represented by a secondary residue zone 236. The concentration of the ejected secondary residue 212 may vary within the secondary residue zone 236, which includes a third subzone 240 and a fourth subzone 244. The third subzone 240 covers portions of the secondary residue zone 236 having higher concentrations of residue. The fourth subzone 244 covers portions of the secondary residue zone 236 having lower concentrations of residue. The secondary separator 88 may eject the secondary residue 212 at a secondary discharge rate. Once the residue has been ejected from the harvester, ideally, most of the residue ends up on the field 14. It is undesirable for the residue to end up in the vehicle 16 or on the harvester 10 which would then require additional cleaning. In some cases, it is beneficial to spread the residue over a large area in order to increase ease of reincorporating the residue into the field 14. In some cases, it is desirable to concentrate the residue over a small area in order to increase the ease of collecting the residue and transporting somewhere else.

The size, shape, and position of the primary residue zone 220 and the secondary residue zone 236, are dependent on several harvester parameters, including, but not limited to, the first predetermined angular position (also referred to herein as the primary hood orientation), the second predetermined angular position (also referred to herein as the conveyor position), the third predetermined angular position (also referred to herein as the secondary hood orientation), the harvester speed, the direction of travel 28 of the harvester, the primary discharge rate, the secondary discharge rate, and the size and weight of the ejected extraneous plant matter. In some implementations, the primary discharge rate and secondary discharge rate may be quantified as a volume of residue ejected per unit time. In other implementations, the primary and secondary discharge rates could be expressed as any suitable measure of ejected residue. The primary discharge rate may be a function of the primary fan speed as well as the harvester speed, the chopper speed, and/or the feed speed. Similarly, the secondary discharge rate may be a function of the secondary fan speed as well as the harvester speed, the chopper speed, and/or the feed speed.

The harvester 10 includes a harvester sensor network 252 including a plurality of sensors configured to detect a current state of each harvester parameter. For example, the harvester 10 may include a conveyor position sensor 256, a primary hood orientation sensor 260, and a secondary hood orientation sensor 264, configured to detect a current position of the respective component. The harvester 10 may include a harvester speed sensor 268 and a harvester direction sensor 272, such as an onboard navigation system (e.g., a global positioning system receiver, which may include differential correction signals and/or a terrain compensation module) or other suitable sensor. The harvester 10 may use a primary fan speed sensor 276 and a primary motor pressure sensor 280 in addition to the harvester speed sensor 268 to help calculate the primary discharge rate. The harvester 10 may use a secondary fan speed sensor 284 and a secondary motor pressure sensor 288 to help calculate the secondary discharge rate.

In addition to the harvester parameters, the size, shape, and position of the primary residue zone 220 and the secondary residue zone 236 are dependent on environmental parameters, including, but not limited to, wind direction, wind speed, and air humidity. Referring back to FIGS. 1-2, the harvester 10 includes an environmental sensor system 292. In the illustrated implementation, the environmental sensor system 292 is mounted atop the operator's cab 32. In other implementations, the environmental sensor system 292 may be positioned anywhere on the harvester 10 suitable for sensing the environmental parameters. The environmental sensor system 292 is configured to detect a set of environmental conditions of an environment surrounding the harvester. In some implementations, the environmental sensor system 292 may include a weather station. In some implementations, the environmental sensor system 292 may include a series of sensors each configured to sense a different environmental parameter. For example, the environmental sensor system 292 may include a wind speed sensor 344 (e.g., an anemometer which may measure wind speed and/or wind direction), a wind direction sensor 348 (e.g. wind vane), a thermometer 350, a humidity sensor 352, and/or any other instrument or combination of instruments suitable for detecting environmental conditions and any combination of the above. In some implementations, the environmental sensor system 292 may include a communication device that receives information about the environmental conditions from a weather station located elsewhere rather than directly sensing the conditions. In some implementations, the humidity sensor 352 may be disposed in other locations on or within the harvester, such as in the basket 144, or any other suitable location informative of a level of moisture of the crop.

As illustrated in FIG. 6, the harvester 10 includes a control system 300 including a controller 304 having a programmable processor 308 (e.g., a microprocessor, a microcontroller, or another suitable programmable device), a memory 312, and a human-machine interface 316. The memory may include, for example, a program storage area 320 and a data storage area 324. The program storage area 320 and the data storage area 324 can include one type or combinations of different types of memory, such as read-only memory (“ROM”), random access memory (“RAM”) (e.g., dynamic RAM [“DRAM”], synchronous DRAM [“SDRAM”], etc.), electrically erasable programmable read-only memory (“EEPROM”), flash memory, a hard disk, an SD card, or other suitable magnetic, optical, physical, electronic memory devices, or other data structures. The control system 300 may include programming, such as algorithms and/or neural networks. The control system 300 may also, or alternatively, include integrated circuits and/or analog devices, e.g., transistors, comparators, operational amplifiers, etc., to execute the logic, algorithms, and control signals described herein.

The human-machine interface 316 may include a display panel 328 and a control panel 332. The display panel 328 may convey visual and/or audio information to an operator. For example, the display panel 328 may include a screen, a touch screen, one or more speakers, etc. The control panel 332 is configured to receive input from the operator. For example, the control panel 332 may include buttons, dials, a touch screen (which may be the same touch screen that provides the display panel or a different touch screen), a personal computer, a mobile device, or the like, with which an operator can input settings, preferences, commands, etc. to control the harvester.

The control system 300 includes a plurality of inputs 336 and outputs 340 to and from various components, as illustrated in FIG. 6. The controller 304 is configured to provide control signals to the outputs and to receive signals (e.g., sensor data signals, user input signals, etc.) from the inputs 336. Signals, as used herein, may include electronic signals (e.g., by circuit or wire), wireless signals (e.g., by satellite, internet, mobile telecommunications technology, a frequency, a wavelength, Bluetooth®), or the like. The inputs 336 may include the harvester sensor network 252 and the environmental sensor system 292. Specifically, the inputs 336 may include, the conveyor position sensor 256, the primary hood orientation sensor 260, the secondary hood orientation sensor 264, the harvester speed sensor 268, the harvester direction sensor 272, the primary fan speed sensor 276, the secondary fan speed sensor 284, the primary motor pressure sensor 280, the secondary motor pressure sensor 288, the wind speed sensor 344, the wind direction sensor 348, the humidity sensor 352, the particle size 353 and particle weight 354 as either inputted by the operator or estimated using the chopper speed and feed speed, and the status 357 of the primary residue shredder 140, and the status 358 of the secondary residue shredder 216. In some implementations, the inputs 336 may also include an image sensor 356, such as a camera mounted on top of the harvester. The camera may be a two-dimensional camera or a three-dimensional camera. The inputs 336 are not limited to those listed and may include other components described herein as well as other components not described herein. The outputs 340 may include an adjustable residue discharge parameter. The adjustable residue discharge parameter may include, but is not limited to, a residue discharge speed, such as a primary fan speed adjustment 360 or a secondary fan speed adjustment 368, or a residue discharge direction, such as a primary hood orientation adjustment 364 or a secondary hood orientation adjustment 372. The outputs 340 may include other components described herein as well as other components not described herein.

The control system 300 is configured to calculate the discharged residue and optimize harvester parameters to meet a set of requirements set by the operator. The discharged residue is generally represented by a residue profile, which is a combination of both the primary residue zone 220 and the secondary residue zone 236. The residue profile may include the area covered by residue and the concentration of residue at each point within the area. The control system 300 is configured to receive the set of requirements from the operator through the human-machine interface 316. In some implementations, the requirements may be specific hood positions, conveyor position, and fan speeds. In some implementations, the requirements may be communicated as part of a mode of operation. For example, the operator may have a choice between three operation modes (which may also be referred to herein as residue management strategies), such as a first mode (or a first residue management strategy), a second mode (or a second residue management strategy), and a third mode (or a third residue management strategy). In other implementations, the operator may have a choice between any number of operation modes, such as two, four, or more. The controller 304 may receive input from the operator corresponding to the desired residue management strategy. Each mode may include a set of mode requirements. The mode requirements may be expressed as areas to keep clear of debris such as residue, directing residue with respect to an area (e.g., size, shape, direction, location, concentration, etc.), or as maximum or minimum operating values.

The first residue management strategy includes keeping residue generally away from a first area, such as the main body of the harvester 10. For example, in the first mode, the control system 300 may generally prioritize machine cleanliness. The mode requirements may be expressed as an area matching a footprint of the harvester 10, where the area is to be avoided, e.g., residue is to be kept generally away.

The second residue management strategy includes keeping residue generally away from a second area, such as the heat exchange area 44. For example, in the second mode, the control system 300 may prioritize keeping residue generally away from the heat exchange area 44, e.g., generally residue free. The mode requirements may be expressed as an area associated with the prime mover 36 and prime mover intake vent that are to be kept generally residue free.

The third residue management strategy includes directing residue with respect to a third area, such as an area of the ground (field 14) around the harvester 10. For example, in the third mode, the operator may indicate an ideal size or shape of the discharged residue defining the third area, or identify the third area as a target location on the field 14 for the discharged residue, or indicate a desired concentration of residue within the third area, or any other parameter with respect to the third area (e.g., residue profile) towards which residue is discharged. The mode requirements may be expressed as a maximum or minimum size of the residue profile or as a maximum or minimum concentration of the residue profile. In some implementations, additional or alternative modes are possible. In some or all the modes, it may be desirable to inhibit residue from landing in or on the vehicle 16 with the cleaned crop billet B. The control system 300 may be configured to calculate an area associated with a footprint of the vehicle 16. The control system 300 may use the image sensor 356 to determine the position of the vehicle 16 or it may be communicated to the control system 300 in other ways.

The control system 300 is configured to estimate the residue profile of the residue discharged by the primary separator 80 and secondary separator 88. The controller 304 is programmed to derive a current residue profile from the inputs 336, including the harvester sensor network 252 and the environmental sensor system 292. The current residue profile includes an estimated primary residue zone 220 and an estimated secondary residue zone 236. In some implementations, the image sensor 356 may be used to confirm the calculated current residue profile.

The control system 300 is configured to calculate and output one or more adjustments given the current residue profile and the mode requirements. The controller 304 is configured to adjust the residue discharge parameter based on the desired residue management strategy and the detected wind speed, wind direction, and/or humidity. The adjustment may be a change in orientation of the primary hood 128 or the secondary hood 200, or it may be a change in the residue discharge rate, e.g., speed of the primary fan 108 or the secondary fan 180 or other related parameter described above. In some implementations, the adjustment may be to other harvester parameters such as the position of the conveyor 84, the harvester speed, the chopper speed, or the feed speed. The control system 300 may be programmed to move the primary hood 128 or the secondary hood 200 to change the residue discharge direction based on the detected wind speed 344, wind direction 348, and/or humidity 352. The control system 300 is configured to further move the primary hood 128 and/or the secondary hood 200 in response to the residue management strategy.

Once the adjustments have been executed, the control system 300 is configured to return to the beginning (see FIG. 7, described in greater detail below). Because the environmental factors like the wind speed and wind direction are constantly changing, the control system 300 is configured to repeat the process indefinitely.

FIG. 7 illustrates a flowchart of an example method 600 for managing residue discharge. As indicated by block 601, the controller 304 is configured to receive the mode requirements from the human-machine interface 316. As indicated by block 602, the controller 304 is configured to receive current inputs 336 including the signals from the sensors in the harvester sensor network 252 and the environmental sensor system 292. As indicated by block 603, the controller 304 is programmed to calculate a current residue profile based on the inputs 336. As indicated by block 604, the controller 304 is programmed to compare the current residue profile to the mode requirements. Based on the comparison, and as indicated in block 605, the controller 304 is configured to adjust one or more system parameters. In some implementations it is desirable to store one or more of the inputs 336, the current residue profile, and the adjustments. In these implementations the method may include an additional step, as indicated by block 606, in which the controller 304 is configured to store the data in the memory 312. The method is configured to repeat indefinitely.

In one example of operation, the user sets the harvester 10 to operate in the first mode, prioritizing harvester cleanliness. The controller 304 receives the inputs 336 including signals from the harvester sensor network 252 and the environmental sensor system 292. The harvester speed is 5 MPH, the harvester direction is North, the conveyor position is +74 degrees from the direction of travel 28, the primary hood orientation is +10 degrees from the direction of travel 28, the secondary hood orientation is +16 degrees relative to conveyor axis 160, the wind speed is 10 MPH, and the wind direction is North East. The controller 304 generates a current residue profile. The current residue profile overlaps the footprint of the harvester. Specifically, the primary residue zone 220 overlaps the rear of the harvester. The controller 304 increases the primary fan speed by 5 percent. The controller 304 recalculates the current residue profile based on updated inputs 336. The primary residue zone 220 no longer overlaps the harvester footprint, so no adjustments are made. The controller 304 continues repeating the process and making any necessary adjustments.

In example of operation, the user sets the harvester 10 to operate in the second mode, prioritizing core cleanliness. The controller 304 receives the inputs 336 including signals from the harvester sensor network 252 and the environmental sensor system 292. The inputs 336 include the harvester speed is 5 MPH, the harvester direction is North, the conveyor position is +74 degrees from the direction of travel 28, the primary hood orientation is +10 degrees from the direction of travel 28, the secondary hood orientation is +16 relative to conveyor axis 160, the wind speed is 10 MPH, and the wind direction is North East. The controller 304 generates a current residue profile. The controller 304 determines that the current profile overlaps the heat exchange area 44. The controller 304 rotates the primary hood 128 clockwise 10 degrees and increases the primary fan speed by 5%. The controller 304 recalculates the current residue profile based on updated inputs 336. The updated profile no longer overlaps the heat exchange area 44, so no adjustments are made. The controller 304 repeats the process and makes adjustments as necessary.

As another example, the user sets the harvester 10 to operate in the third mode, prioritizing an average residue concentration of at least 60%. The controller 304 receives the inputs 336 including signals from the harvester sensor network 252 and the environmental sensor system 292. The inputs 336 include the harvester speed is 5 MPH, the harvester direction is North, the conveyor position is +74 degrees from the direction of travel 28, the primary hood orientation is +10 degrees from the direction of travel 28, the secondary hood orientation is +16 relative to conveyor axis 160, the wind speed is 2 MPH, and the wind direction is North East. The controller 304 generates a current residue profile. The current residue profile has an average concentration of 20%. The controller 304 rotates the secondary hood 200 counterclockwise 10 degrees and decreases the primary fan speed. The controller 304 recalculates the current residue profile based on updated inputs 336. The updated profile has an average concentration of 70%, so no adjustment is made. The controller 304 continues repeating the process and making adjustments as necessary.

In operation, the user inputs a set of requirements or a mode of operation. The stalks of crop are conveyed from the base cutter 64 to the chopper 76. The chopper 76 chops the crop and delivers the stream of crop billet B and extraneous plant matter to the primary cleaning chamber 120. The primary separator 80 separates extraneous plant matter from the crop billet B and ejects primary residue 136 from the primary opening 132. The primary residue 136 settles in the primary residue zone 220. The cleaned crop is deposited in the basket 144, where it is then transported to the secondary separator 88 by the conveyor 84. Additional extraneous matter is separated from the crop billet B and ejected out the secondary opening 204 as secondary residue 212. The secondary residue 212 settles in the secondary residue zone 236. The harvester sensor network 252 and the environmental sensor system 292 capture the desired information and communicate it to the control system 300. The control system 300 analyzes the inputs 336, determines a current residue zone, compares the current residue zone to the set of requirements, and generates the outputs 340. The outputs 340 may include an adjustment to the harvester parameters. The control system 300 may be operable to adjust one or more system parameters of the harvester 10 based on the output 340. After adjusting the parameter, the process may repeat, such that the controller 304 is continuously receiving signals from the sensors and is continuously making adjustments to the system parameter as needed.

FIGS. 8-14 illustrate a harvester 710 according to another implementation. The harvester 710 is similar to the harvester 10 as described above with reference to FIGS. 1-7 and need not be described again. The following description focuses only on the differences between the harvester 710 and the harvester 10. As such, it should be understood that all other description of the harvester 10 above applies to the harvester 710 and need not be repeated. Accordingly, features and elements of the harvester 710 corresponding with features and elements of the harvester 10 are given like reference numbers, plus 700.

FIG. 8 illustrates a side view of the harvester 710 with portions removed. The harvester includes a frame 720 defining a crop inlet 756 to receive crop. The harvester 710 further includes a chopper 776, a cleaning system 778 (also referred to herein as residue discharge system) including a primary separator 780 and/or a secondary separator 788. The harvester 710 also includes a conveyor 784 (also referred to herein as an elevator) connecting the primary separator 780 and the secondary separator 788. The primary separator 780 includes a primary cleaning chamber 820 defined by a primary cleaner housing 824. The primary cleaning housing 824 includes a primary hood 828 which may have a domed shape and includes a primary opening or first outlet 832. The primary hood 828 is rotatably mounted on the frame 720, e.g., about a vertical axis. The primary separator 780 generally separates crop billet B from extraneous plant matter. The extraneous plant matter is ejected through the primary opening 832 and may be referred to herein as residue. The primary separator 780 further includes a debris director 1400. The debris director 1400 is generally configured to control an angle of residue ejection with respect to the support surface 714, as will be described in greater detail below.

With reference to FIGS. 9-11, the debris director 1400 is mounted to the primary hood 828 and includes a frame 1404 and a cover 1408 formed from plurality of panels 1412 (also referred to herein as directing members or louvers). In other implementations, the cover 1408 may include a single extendable and retractable panel, or any other number of extendable and retractable panels. In some implementations, the debris director 1400 may be formed as part of the primary hood 828 (e.g., the primary hood 828 itself is extendable/retractable) rather than mounted to the primary hood 828. In any case, the primary hood 828 includes the debris director 1400. In the illustrated implementation, each of the panels 1412 is pivotally mounted to the primary hood 828 via a pivot joint 1416 defining a generally horizontal pivot axis. The pivot joint 1416 is disposed adjacent a lower end of the primary opening 832. The plurality of panels 1412 may include an active panel 1420 (also referred to herein as a first panel). The active panel 1420 may be rotatable to one of a range of positions or configurations (e.g., some of which are labeled D1-D2 herein). The debris director 1400 further includes one or more actuators 1424. In the illustrated implementation, the debris director 1400 includes a linear actuator 1428 having a first end 1432 rotatably coupled to the frame 1404 and a second end 1436 rotatably coupled to the active panel 1420. Thus, the active panel 1420 is driven directly by the actuator 1428 and the rest of the plurality of panels 1412 follow, i.e., are driven by the active panel 1420. The actuator 1428 has a variable length defined between the first end 1432 and the second end 1436, i.e., the actuator 1428 is extendable and retractable. In some implementations, the debris director 1400 may include an actuator associated with each of the plurality of panels 1412 or may include any number of active panels and an actuator associated with each active panel. In other implementations, the actuator 1428 may be a nonlinear actuator, a rotational actuator, a step motor, or any other suitable type of actuator. The cover 1408 is movable between a first configuration (FIG. 9) and a second configuration (FIG. 11).

With reference to FIG. 9, in the first configuration (also referred to herein as the open configuration) the panels 1412 are disposed atop the primary hood 828 and generally do not change or modify the primary opening 832. The active panel 1420 is disposed with respect to the pivot joint 1416 in a first position D1. In the illustrated implementation, the first position D1 is such that the active panel 1420 extends nearly vertically (or vertically in some other implementations) upwards from the pivot joint 1416. The panels 1412 may be stacked or nested to conserve space. The actuator 1428 is in a first, retracted, position. The primary opening 832 defines a first residue ejection direction 1440 defining a residue ejection angle E1 with respect to the support surface 714.

The first residue ejection angle E1 is approximately zero degrees, i.e., the first residue ejection direction 1440 is generally parallel or almost parallel with the support surface 714. In the first configuration, the cover 1408 does not substantially change or modify the ejection angle of the first outlet 832 of the primary hood 828. The first residue ejection direction 1440 is defined generally centrally through the primary opening 832 (or the active panel 1420), normal to the primary opening 832 (or the active panel 1420). In other implementations, the first residue ejection angle E1 may have other desired values, such as less than or more than 0 degrees, e.g., slightly more than 0 degrees (i.e., angled slightly towards the support surface 714), e.g., anywhere from 0-5 degrees, from 0-10 degrees, from 0-20 degrees, from 0-30 degrees, etc.

With reference to FIG. 11, in the second configuration (also referred to herein as the closed configuration) the panels 1412 are extended from the primary opening 832. The actuator 1428 is in a second, extended, position. The active panel 1420 is rotated to a second position D2. In the illustrated implementation, the second position D2 is such that the active panel 1420 extends generally horizontally from the pivot joint 1416. The panels 1412 are disposed to partially overlap, inhibiting airflow through the cover 1408. The panels 1412 cooperate with the primary hood 828 to define an adjusted opening 1444 (which may also be referred to herein as an outlet), e.g., defining an outlet different from the first outlet 832 of the primary hood 828 to direct residue at a different angle with respect to the support surface 714 than the first outlet 832. The adjusted opening 1444 is defined by the position of the panels 1412, particularly the active panel 1420 in the illustrated implementation, and is therefore movable over a range of angles with respect to the support surface 714. The adjusted opening 1444 therefore moves to define a range of residue ejection directions, including at least partially defining the first residue ejection direction 1440 in the first configuration and a second residue ejection direction 1448 in the second configuration, and other residue ejection directions therebetween (as will be described in greater detail below). The second residue ejection direction 1448 is defined generally centrally through the adjusted opening 1444 of the active panel 1420, normal to the adjusted opening 1444 of the active panel 1420, as are any intermediate residue ejection directions (described below).

The second residue ejection direction 1448 defines a residue ejection angle E2 with respect to the support surface 714. The second residue ejection angle E2 is approximately 90 degrees, i.e., the second residue ejection direction 1448 is generally perpendicular (e.g., perpendicular or almost perpendicular) to the support surface 714, oriented towards the support surface 714, and substantially changes or modifies the ejection angle of the first outlet 832 of the primary hood 828. In other implementations, the second residue ejection angle E2 may have other desired values, such as less than or more than 90 degrees, e.g., anywhere from 80-90 degrees, from 70-90 degrees, from 60-90 degrees, from 50-90 degrees, from 40-90 degrees, from 30-90 degrees, etc.

As shown in FIG. 10, the cover 1408 may also be disposed at a number of intermediate configurations between the first configuration and the second configuration. The actuator 1428 may be partially extended to an intermediate position between the extended and retracted positions. The active panel 1420 may be rotated to a position Dint which is between the first position D1 and the second position D2. The panels 1412 at least partially overlap to inhibit airflow through the cover 1408. In the intermediate configurations, the adjusted opening 1444 defines an intermediate residue ejection direction 1452 defining an intermediate residue ejection angle Eint with respect to the support surface 714 that may be anywhere between the residue ejection angles E1 and E2.

With reference to FIGS. 12-13, the primary separator 780 separates the primary residue 836 and directs the primary residue 836 up through the primary cleaning chamber 820 and out the primary opening 832. As shown in FIG. 12, when the cover 1408 is in the first configuration, the residue 836 is conducted along the first residue ejection direction 1440. In the illustrated implementation, the first residue ejection direction 1440 extends generally parallel to the support surface 714 (e.g., zero degrees with respect to the support surface 714) and at least partially toward a rear of the harvester 710. As shown in FIG. 13, when the cover 1408 is in the second configuration, the residue 836 is directed out the primary opening 832 and through the adjusted opening 1444, along the second residue ejection direction 1448. In the illustrated implementation, the second residue ejection direction 1448 extends generally directly down toward the support surface 714 (e.g., 90 degrees with respect to the support surface 714).

Another debris director (not shown) that is essentially the same as the debris director 1440 described above may additionally or alternatively be disposed on the secondary separator 788.

In some implementations, movement of the cover 1408 between the first configuration and the second configuration may be controlled manually by the operator of the harvester 10. In some implementations, the movement of the cover 1408 may be controlled automatically by a control system 1000 as illustrated in FIG. 14. The control system 1000 is substantially similar to the control system 300 of FIGS. 1-7 and may be the same as the control system 300 plus the additional features described below. The control system 1000 includes outputs 1040 including, among other things, a cover position 1456 as controlled by an actuator position 1460. The cover position 1456 is the position of the cover 1408 relative to the hood 828. The control system 1000 also includes inputs 1036 including, among other things, user input 1462 from a user interface 1016, a wind direction sensor 1048 (e.g., as described above with respect to FIGS. 1-7) and wind speed sensor 1044 (e.g., as described above with respect to FIGS. 1-7) as part of an environmental sensor system 992 (e.g., as described above with respect to FIGS. 1-7), and a primary motor pressure sensor 980 configured to measure pressure or load on the primary motor 116.

The control system 1000 is configured to move the debris director 1440 in response to received inputs 1036. The control system 1000 is configured to receive user input 1462 from the operator through the human-machine interface 1016. In some implementations, the user input 1462 may be a specific configuration indicated by a value for the cover position 1456 or actuator position 1460. In some implementations, the user input 1462 may be communicated as a threshold value 1464, e.g., a threshold value(s) of wind direction, wind speed, and/or primary motor pressure. In some implementations, the threshold value 1464 is preset or coded into the control system 1000 rather than received from the operator. The control system 1000 is configured to receive the inputs 1036 including the signals from the primary motor pressure sensor 980 and the environmental sensor system 992. In some implementations, the pressure value sensed by the primary motor pressure sensor 980 is compared to the threshold value 1464. In some implementations, the wind direction 1048 and/or wind speed 1044 is compared to the threshold value 1464. The control system 1000 is configured to adjust the debris director 1400 in response to the comparison. The control system 1000 is configured to adjust position of the actuator 1428 between the extended and retracted positions, and by result the position (e.g., D1-D2) of the active panel 1420 and therefore the residue ejection angle (correspondingly). In other implementations, the control system 1000 is configured to automatically move the debris director 1440 based on the detected parameter (such as environmental condition and/or the cleaning system motor pressure) in other ways, such as proportionally. For example, the debris director 1440 is moved between the extended and retracted positions proportionally to the sensed parameter in a predetermined fashion that may be coded into the control system 1000, such as in a lookup table or by way of a formula. In such implementations, the debris director 1440 may move to adjust the residue discharge angle closer to 90 degrees in response to one or more of 1) an increasing upwind component/vector of the wind direction, 2) an increasing wind speed, and/or 3) an increasing cleaning system motor pressure. In such implementations, the debris director 1440 may move to adjust the residue discharge angle closer to 0 degrees in response to one or more of 1) a decreasing upwind component/vector of the wind direction, 2) a decreasing wind speed, and/or 3) a decreasing cleaning system motor pressure.

In one example of operation, the harvester 710 may be driven in a field with an upwind, or a wind traveling from the rear of the harvester 710 toward the front of the harvester 710. The control system 1000 receives the inputs 1036 including the signals from the primary motor pressure sensor 980 and the environmental sensor system 992. In one example, when the sensed primary motor pressure value exceeds the threshold value 1464, the debris director 1400 is moved from the first configuration towards the second configuration. In another example, when the sensed wind speed and/or direction exceeds the threshold value 1464, the debris director 1400 is moved from the first configuration towards the second configuration. Specifically, the controller 1004 is configured to move the actuator 1428 from the retracted position toward the extended position. The change in the actuator position 1460 rotates the active panel 1420 from the first position D1 towards the second position D2 (e.g., to the second position D2 or to an intermediate position Dint), changing the cover position 1456. Residue from the primary separator 780 is therefore ejected along the second residue ejection direction 1448 at a second residue ejection angle E2, or anywhere in between the first and second residue ejection directions 1440, 1448 and corresponding residue ejection angles E1, E2, such as the intermediate residue ejection direction 1452 at the intermediate residue ejection angle Eint. Position control may be proportional to the magnitude of deviation past the threshold value 1464.

In another example of operation, the harvester 710 may be driven in a field with a downwind, or a wind traveling from the front of the harvester 710 to the rear of the harvester 710. The control system 1000 receives the inputs 1036 including the signals from the primary motor pressure sensor 980 and the environmental sensor system 992. In one example, the threshold value 1464 may be set to correspond to wind direction. When the sensed wind direction 1048 meets or exceeds the threshold value 1464, indicating the wind is sufficiently a downwind, the debris director 1400 is moved from the second configuration toward the first configuration. In another example, the threshold value 1464 may be set to correspond to wind speed. When the sensed wind speed 1044 meets or exceeds the threshold value 1464, indicating the wind is sufficiently low speed, the debris director 1400 is moved from the second configuration toward the first configuration. In another example, the threshold value 1464 may be set to correspond to primary motor pressure. When the sensed primary motor pressure drops to or below the threshold value 1464, indicating the motor pressure is sufficiently low, the debris director 1400 is moved from the second configuration toward the first configuration. Specifically, the controller 1004 is configured to move the actuator 1428 from the extended position toward the retracted position to rotate the active panel 1420 toward the first position D1. Residue from the primary separator 780 is therefore ejected along the first residue ejection direction 1440 at the first residue ejection angle E1, or anywhere in between the first and second residue ejection directions 1440, 1448 and corresponding residue ejection angles E1, E2, such as the intermediate residue ejection direction 1452 at the intermediate residue ejection angle Eint. Position control may be proportional to the magnitude of deviation past the threshold value 1464.

When operating in a wind coming generally from front to rear of the machine the debris director 1440 is moved to reduce the system restriction to reduce fan power and improve cleaning. This would have the residue coming out almost parallel with the field. In a wind going sufficiently from the rear to front of the machine the debris director 1440 would be angled down, directing residue straight to the field. This would increase fan power, but limit residue/extraneous plant matter build up in or on the harvester 10. Residue build up in or on the harvester 10 may increase system temperatures and dissatisfy the customer.

Thus, the disclosure provides, among other things, a harvester having a residue management system. Various features and advantages of the disclosure are set forth in the following claims. 

What is claimed is:
 1. A harvester movable along a support surface, the harvester comprising: an inlet configured to receive crop; a blade configured to cut the crop into billet and extraneous plant matter; and a cleaning system configured to distinguish between billet and extraneous plant matter such that billet is directed toward a conveyor configured for discharging billet to a vehicle and extraneous plant matter is directed toward a hood, wherein the hood includes a debris director defining an outlet configured to eject extraneous plant matter as residue onto the support surface, wherein the outlet is disposed at an angle of residue ejection with respect to the support surface, and wherein the debris director is configured to adjust the angle of residue ejection with respect to the support surface.
 2. The harvester of claim 1, wherein the angle of residue ejection is adjustable at least partially between zero degrees and 90 degrees, wherein zero degrees is generally parallel to the support surface and 90 degrees is generally perpendicular to the support surface.
 3. The harvester of claim 1, wherein the angle of residue ejection is adjustable such that a residue ejection direction is generally perpendicular to the support surface.
 4. The harvester of claim 1, further comprising: a sensor configured to detect at least one of an environmental condition or a cleaning system motor pressure; and a control system including a processor, a memory, and a human-machine interface, the control system configured to receive the signal from the sensor and programmed to move the debris director to adjust the angle of residue ejection with respect to the support surface based on the detected at least one of the environmental condition or the cleaning system motor pressure.
 5. The harvester of claim 4, wherein the environmental condition includes a measured wind speed and/or direction.
 6. The harvester of claim 4, wherein the control system is configured to receive an operator input corresponding to a threshold value and is further configured to move the debris director in response to the detected at least one of the environmental condition or the cleaning system motor pressure reaching the threshold value.
 7. The harvester of claim 4, wherein the control system is configured to automatically move the debris director proportionally to the magnitude of the detected at least one of the environmental condition or the cleaning system motor pressure.
 8. The harvester of claim 4, further comprising an actuator configured to move the debris director between first and second positions, wherein the control system is configured to control the actuator to move the debris director.
 9. The harvester of claim 1, wherein the debris director is movable between a retracted position and an extended position in which the debris director extends from the hood.
 10. The harvester of claim 9, wherein the debris director is mounted to rotate between the retracted position and the extended position.
 11. The harvester of claim 1, wherein the debris director includes at least one extendable panel.
 12. The harvester of claim 11, wherein the at least one extendable panel is configured to pivot between a retracted position and an extended position.
 13. The harvester of claim 11, wherein the at least one extendable panel includes a plurality of extendable panels, wherein at least one of the plurality of extendable panels is driven by an actuator.
 14. The harvester of claim 13, wherein the active panel at least partially defines the outlet defining the adjustable angle of residue ejection.
 15. A cleaning system for a harvester movable along a support surface, the harvester having an inlet configured to receive crop and a blade configured to cut the crop into billet and extraneous plant matter, the cleaning system comprising: a separator configured to distinguish between billet and extraneous plant matter such that billet is directed toward a conveyor configured for discharging billet to a vehicle and extraneous plant matter is directed toward a hood, wherein the hood includes a debris director defining an outlet configured to eject extraneous plant matter as residue onto the support surface, wherein the outlet is disposed at an angle of residue ejection with respect to the support surface, and wherein the debris director is configured to adjust the angle of residue ejection with respect to the support surface.
 16. The cleaning system of claim 15, further comprising: a sensor configured to detect at least one of an environmental condition or a separator motor pressure; and a control system including a processor, a memory, and a human-machine interface, the control system configured to receive the signal from the sensor and programmed to move the debris director to adjust the angle of residue ejection with respect to the support surface based on the detected at least one of the environmental condition or the separator motor pressure.
 17. The cleaning system of claim 16, wherein the environmental condition includes a measured wind speed and/or direction.
 18. The cleaning system of claim 16, wherein the control system is configured to receive an operator input corresponding to a threshold value and is further configured to move the debris director in response to the detected at least one of the environmental condition or the separator motor pressure reaching the threshold value.
 19. The cleaning system of claim 16, wherein the control system is configured to automatically move the debris director proportionally to the detected at least one of the environmental condition or the separator motor pressure.
 20. A harvester movable along a support surface to receive crop and separate crop into billet and extraneous plant matter, the harvester comprising: a cleaning system configured to direct extraneous plant matter toward a hood, wherein the hood includes a debris director including at least one movable panel defining an outlet configured to eject extraneous plant matter as residue onto the support surface, wherein the outlet is disposed at an angle of residue ejection with respect to the support surface, wherein the at least one movable panel is configured to adjust the angle of residue ejection with respect to the support surface, and wherein the angle of residue ejection is adjustable such that a residue ejection direction is generally perpendicular to the support surface. 